A 3D trajectory projection magnetic gradient measurement system in boreholes

Abstract

The utility model discloses a three-dimensional trajectory projection magnetic gradient measurement system in a borehole, comprising: a logging winch, a measuring probe, a data acquisition module and a processing module; the logging winch is used to control the measuring probe to move in the borehole; the measuring probe comprises a gravity acceleration sensor, a magnetic field sensor and a fluxgate sensor; the gravity acceleration sensor obtains the acceleration signal when the measuring probe moves in the borehole, the magnetic field sensor obtains the magnetic field signal, and the fluxgate sensor obtains the magnetic gradient change signal caused by the underground metal pipeline; the data acquisition module is used to collect the acceleration signal, the magnetic field signal and the magnetic gradient change signal and transmit them to the processing module; the processing module generates a three-dimensional trajectory curve of the measuring probe based on the acceleration signal and the magnetic field signal, and determines the position of the underground metal pipeline in the three-dimensional space according to the three-dimensional trajectory curve and the magnetic gradient change signal. The measurement system provided by the utility model can quickly determine the position of the underground metal pipeline in the three-dimensional space.

Description

Technical Field

[0001] The utility model relates to the field of geological engineering exploration technology and underground pipeline fine detection technology, in particular to a three-dimensional trajectory projection magnetic gradient measurement system in a borehole. Background Art

[0002] In recent years, the construction and reform of urban pipeline engineering have continued to deepen, and the number of pipeline engineering projects and pipeline engineering has continued to increase. As one of the basic tasks, engineering survey has also attracted widespread attention from workers. Deeply buried pipelines are essential engineering constructions in urban underground areas, carrying the heavy responsibility of transporting materials and resources. However, there are problems such as old and new pipelines, messy distribution, lack of management, and incomplete information. Corresponding pipeline engineering survey methods are constantly being generated and updated. With the development of modern science and technology, some methods of geophysical detection are also constantly being improved and improved, and have been widely used in construction projects and municipal construction projects. Magnetic gradient detection is a method of geophysical detection that determines the distribution range and location of magnetic bodies by observing and analyzing the magnetic differences and magnetic field characteristics of objects.

[0003] With the construction and development of more and more large-scale functional cities, the urban underground pipe network system plays an increasingly important role in the normal operation of the entire city. Deeply buried pipelines carry rainwater, sewage and other natural and social discharges from the aboveground part of the city, and transport gas, tap water and other essential resources for social development and citizens' lives. They are one of the fundamental foundations for the good, orderly and healthy development of the city.

[0004] In recent years, problems such as aging pipelines, disorderly distribution, dense arrangement, and unscientific pipeline management methods have gradually become prominent in underground pipeline networks. The contradiction between existing pipeline detection technology and management concepts and the rapid development of cities has intensified. The detection of deep buried pipelines is imminent. We urgently need to seek a universal scientific and technological means to assist in the completion of deep buried pipeline detection work. Utility Model Content

[0005] The utility model provides a three-dimensional trajectory projection magnetic gradient measurement system in a borehole, which generates a three-dimensional trajectory curve of the measuring probe based on acceleration signals and magnetic field signals obtained by a gravity acceleration sensor and a magnetic field sensor on the measuring probe, obtains surrounding magnetic gradient change signals based on a fluxgate sensor, and quickly and accurately determines the position of an underground metal pipeline in three-dimensional space based on the three-dimensional trajectory curve and the magnetic gradient change signals.

[0006] According to a first aspect of the utility model, a three-dimensional trajectory projection magnetic gradient measurement system in a borehole is provided, comprising: a measurement probe, a logging winch, a data acquisition module and a processing module;

[0007] The measuring probe comprises a gravity acceleration sensor, a magnetic field sensor and a fluxgate sensor; the gravity acceleration sensor acquires an acceleration signal when the measuring probe moves in the borehole, the magnetic field sensor acquires a magnetic field signal, and the fluxgate sensor acquires a magnetic gradient change signal caused by an underground metal pipeline;

[0008] The logging winch is connected to the measuring probe, and the logging winch is used to extend the measuring probe into the borehole and control the measuring probe to move in the borehole;

[0009] The data acquisition module is connected to the logging winch, the processing module is connected to the data acquisition module, and the data acquisition module is used to collect the acceleration signal, the magnetic field signal and the magnetic gradient change signal and transmit them to the processing module;

[0010] The processing module generates a three-dimensional trajectory curve of the measuring probe based on the acceleration signal and the magnetic field signal, and determines the position of the underground metal pipeline in three-dimensional space according to the three-dimensional trajectory curve and the magnetic gradient change signal.

[0011] Optionally, the measuring probe includes three orthogonally mounted gravity acceleration sensors and three orthogonally mounted magnetic field sensors.

[0012] Optionally, the logging winch includes an electric slip ring, a depth measuring wheel, a brushless DC motor, and a motor driver;

[0013] The electric slip ring is used to transmit the working power when the logging winch controls the movement of the measuring probe;

[0014] The depth measuring wheel is used to detect the depth of the measuring probe in the borehole;

[0015] The brushless DC motor is used to drive the logging winch to control the measuring probe to move in the borehole;

[0016] The motor driver is used to control the speed, torque and direction of the logging drawworks.

[0017] Optionally, a connector is also included;

[0018] The first end of the connector is connected to one end of the cable on the depth measuring wheel, the second end of the connector is connected to the measuring probe, and the connector reserves an interface for extending the probe function.

[0019] Optionally, the logging drawworks further includes a power lithium battery pack;

[0020] The power lithium battery pack is used to provide power for the logging drawworks.

[0021] Optionally, the logging winch further includes an emergency stop switch;

[0022] The emergency stop switch is used to control the logging winch to stop working when an emergency occurs.

[0023] Optionally, a display module is also included;

[0024] The display module is connected to the processing module, and is used to display the position of the underground metal pipeline in three-dimensional space.

[0025] Optionally, the data acquisition module includes a ground data acquisition box.

[0026] Optionally, the processing module includes a computer having built-in three-dimensional computing software.

[0027] The utility model provides a three-dimensional trajectory projection magnetic gradient measurement system in a borehole, the system comprises: a measuring probe, a logging winch, a data acquisition module and a processing module; the measuring probe comprises a gravity acceleration sensor, a magnetic field sensor and a fluxgate sensor; the gravity acceleration sensor obtains an acceleration signal when the measuring probe moves in the borehole, the magnetic field sensor obtains a magnetic field signal, and the fluxgate sensor is used to obtain a magnetic gradient change signal caused by an underground metal pipeline; the logging winch is connected to the measuring probe, the logging winch is used to extend the measuring probe into the borehole, and control the movement of the measuring probe in the borehole; the data acquisition module is connected to the measuring probe, the processing module is connected to the data acquisition module, the data acquisition module is used to collect acceleration signals, magnetic field signals and magnetic gradient change signals and transmit them to the processing module; the processing module generates a three-dimensional trajectory curve of the measuring probe based on the acceleration signal and the magnetic field signal, and determines the position of the underground metal pipeline in three-dimensional space according to the three-dimensional trajectory curve and the magnetic gradient change signal. The utility model provides a three-dimensional trajectory projection magnetic gradient measurement system in a borehole, which generates a three-dimensional trajectory curve of the measuring probe based on acceleration signals and magnetic field signals obtained by a gravity acceleration sensor and a magnetic field sensor on the measuring probe, and quickly and accurately determines the position of an underground metal pipeline in three-dimensional space according to the three-dimensional trajectory curve and the magnetic gradient change signal.

[0028] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present utility model, nor are they intended to limit the scope of the present utility model. Other features of the present utility model will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0030] Figure 1 It is a structural block diagram of a borehole three-dimensional trajectory projection magnetic gradient measurement system provided by an embodiment of the utility model;

[0031] Figure 2 It is a real-time position and fitting curve diagram of the measuring probe provided by the embodiment of the utility model;

[0032] Figure 3 It is the theoretical variation curve of the Za gradient value of underground metal pipelines on the vertical section;

[0033] Figure 4 This is a schematic diagram of the inclination measuring state of the measuring probe provided by the embodiment of the utility model;

[0034] Figure 5 It is a structural block diagram of another borehole three-dimensional trajectory projection magnetic gradient measurement system provided by an embodiment of the utility model;

[0035] Figure 6 This is an overall structural diagram of a borehole three-dimensional trajectory projection magnetic gradient measurement system provided by an embodiment of the utility model;

[0036] Figure 7 It is a structural block diagram of another borehole three-dimensional trajectory projection magnetic gradient measurement system provided by an embodiment of the utility model. DETAILED DESCRIPTION

[0037] In order to enable those skilled in the art to better understand the solution of the utility model, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is only a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the utility model.

[0038] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0039] Figure 1 This is a structural block diagram of a borehole three-dimensional trajectory projection magnetic gradient measurement system provided by an embodiment of the utility model. Figure 2 This is a real-time position and fitting curve diagram of the measuring probe provided by the embodiment of the utility model, refer to Figure 1 and Figure 2 The utility model provides a borehole three-dimensional trajectory projection magnetic gradient measurement system comprising: a measuring probe 1, a logging winch 2, a data acquisition module 3 and a processing module 4; the measuring probe 2 comprises a gravity acceleration sensor 11, a magnetic field sensor 12 and a fluxgate sensor 13; the gravity acceleration sensor 11 obtains an acceleration signal of the measuring probe 1 when it moves in the borehole, the magnetic field sensor 12 obtains a magnetic field signal, and the fluxgate sensor 13 obtains a magnetic gradient change signal caused by an underground metal pipeline; the logging winch 2 is connected to the measuring probe 1, and the logging winch 2 is used to extend the measuring probe 1 into the borehole (not shown in the figure) and control the measuring probe 1 to move in the borehole;

[0040] The data acquisition module 3 is connected to the logging winch 2, and the processing module 4 is connected to the data acquisition module 3. The data acquisition module 3 is used to collect acceleration signals, magnetic field signals and magnetic gradient change signals and transmit them to the processing module 4; the processing module 4 generates a three-dimensional trajectory curve of the measuring probe 1 based on the acceleration signal and the magnetic field signal, and determines the position of the underground metal pipeline in the three-dimensional space according to the three-dimensional trajectory curve and the magnetic gradient change signal.

[0041] Introduction to the principle of magnetic gradient technology:

[0042] As we all know, the earth has a magnetic field, and the magnetic field strength E is different at different locations on the earth's surface. Normally, when there is no interference from ferromagnetic materials, E is uniformly distributed. However, when there are ferromagnetic materials, magnetic anomalies will occur around the ferromagnetic materials due to the magnetization of the earth's magnetic field, and the intensity of the magnetic anomaly is directly related to the distance. According to the different purposes of studying the geomagnetic field, the geomagnetic field can be divided into two parts: normal geomagnetic field (normal field) and magnetic anomaly (abnormal field). Because the normal field and the abnormal field are relative, the magnetic field in places where there are no deep buried pipelines is usually regarded as the normal field. Deep buried pipelines are ferromagnetic materials, including but not limited to underground metal gas pipelines, oil pipelines, water supply pipelines, aviation fuel pipelines, heating pipelines and other types of industrial metal pipelines. Due to the magnetization of the earth's magnetic field, the magnetic field generated around the deep buried pipelines buried vertically underground is regarded as a magnetic anomaly. Through the refined detection of deep buried ferromagnetic objects underground, the most accurate three-dimensional spatial position information of underground deep buried pipelines can be provided for engineering construction, providing guarantee for engineering construction safety.

[0043] Generally, in a uniform soil layer without ferromagnetic materials, the earth's magnetic field strength should be a uniform field in theory. If there is ferromagnetic material in it, there will be a strong induced magnetic field distributed around it, thus generating magnetic anomalies, and the intensity of magnetic anomalies gradually decays from near to far. Therefore, the plane position and burial depth of the anomaly can be determined by observing the changes in its magnetic anomaly, especially the distribution of the gradient value of the vertical component Za.

[0044] By drilling a hole, the magnetic gradiometer is lowered into the borehole, and the change of the Za curve of the ferromagnetic material in the vertical direction is measured from top to bottom, which can achieve a more ideal effect. Figure 3 It is the theoretical variation curve of the Za gradient value of underground metal pipelines on the vertical section. Figure 3 It can be seen that in the borehole close to the metal pipe, the Za gradient value changes significantly with depth. At the depth close to the ferromagnetic material, the gradient value changes strongly, like an "S" shape. In the borehole slightly away from the ferromagnetic material, the gradient value changes accordingly. When the horizontal spacing is greater than 1.0m, there is almost no change.

[0045] In actual engineering applications, the magnetic gradient detection method is often used for drilling positioning during construction. Since trenchless pipelines are buried deep and have weak internal signals, engineers envision sending the detection instrument as close to the pipeline as possible for detection, so it is necessary to use the method of drilling underground to achieve this. During detection, two to three boreholes are generally drilled near the estimated target to observe the magnetic anomalies inside the boreholes, especially the distribution of the gradient value on the vertical component Za, so as to determine the plane distribution and spatial position of the target.

[0046] In the boreholes closer to the pipeline center x position, the Za curve detected in the borehole changes more obviously, and in the boreholes farther from the pipeline center x position, the Za curve changes more gently. In general, the center point of the metal pipeline is located between the plane positions corresponding to the maximum and minimum values ​​of the Za curve. Place a magnetic detector in the borehole, measure and record the magnetic gradient value at each depth position from bottom to top at intervals of 0.20m, and then draw the measured data into measured curves in turn, and compare them with the theoretical curves to infer the burial conditions of the underground pipeline.

[0047] Specifically, a deep hole is first drilled with a drilling machine on the ground where a metal pipe may be buried deep underground. It can be understood that the deep hole may be a deep hole pointing vertically downward or a deep hole with a curved structure or a deep hole with a horizontal tubular structure. The utility model does not limit this. The logging winch 2 is connected to the measuring probe 1 to control the free movement of the measuring probe 1 in the borehole. Optionally, the measuring probe 1 includes three orthogonally installed gravity acceleration sensors 11 and three orthogonally installed magnetic field sensors 12. The gravity acceleration sensor 11 is mainly used to obtain the acceleration signal of the measuring probe 1 when it moves; the magnetic field sensor 12 is mainly used to obtain the magnetic field signal around the measuring probe 1; the fluxgate sensor 13 is mainly used to obtain the magnetic gradient change signal caused by the underground metal pipeline; the data acquisition module 3 collects the acceleration signal, the magnetic field signal and the magnetic gradient change signal and transmits them to the processing module 4. The processing module 4 generates a three-dimensional trajectory curve of the measuring probe 1 based on the acceleration signal and the magnetic field signal, and determines the position of the underground metal pipeline in three-dimensional space according to the three-dimensional trajectory curve and the magnetic gradient change signal, such as Figure 1 As shown, Figure 1 The dark dot is the location mark of the measuring probe 1. Figure 1 The red curve in the middle is the path diagram after fitting. Optionally, the processing module 4 includes a computer with built-in three-dimensional software.

[0048] Figure 4 This is a schematic diagram of the inclination state of the measuring probe provided by the embodiment of the utility model, referring to Figure 4 , because the traditional magnetic gradient equipment cannot know the actual position of the underground metal pipeline in three-dimensional space due to the uncertainty of the drilling trajectory, the utility model has three gravity acceleration sensors and three magnetic field sensors orthogonally installed in the three-dimensional trajectory projection high-precision magnetic gradient measurement system in the borehole. The measured signal is amplified and sent to the microcontroller unit (MCU) for processing after analog-to-digital conversion. The instrument axis has different orientations in the geodetic space, and the components obtained by each sensor in the three-axis direction are different. These sensors are pre-calibrated, so these components are obtained through complex digital calculations. The relationship between the instrument coordinates and the geodetic coordinates is finally encoded by the data encoder and transmitted to the data processing unit.

[0049] 3. Advantages of magnetic gradient technology

[0050] For some pipelines that cross urban main roads, rivers and other areas, directional drilling crossing construction methods are often used in the actual construction process. The buried depth of most areas of the laid pipelines is 5m-10m, and the pipeline depth in some sections is even up to 20m. They are generally called deep buried pipelines or unconventional buried pipelines. According to previous underground pipeline detection engineering practices, the detection depth of conventional underground pipeline detection instruments and methods is generally within 5m. When the pipeline is buried more than 5m deep, its detection accuracy is greatly reduced or even impossible to detect. In order to accurately detect the location of deep buried pipelines, an unconventional detection method, the in-hole magnetic gradient method, is used to determine the detection and positioning of deep buried pipelines.

[0051] In today's construction, with the gradual improvement and development of trenchless technology, the method of laying pipelines in a trenchless surface method has gradually become popular. The buried depth of pipelines in this method is usually between 3.0m and 40.0m, and there is a problem that there are no exposed points at long intervals of pipelines, and the usual traditional technology cannot accurately detect them. In addition, there are some pipelines with professional uses that need to be buried deep according to the requirements of construction specifications, and the road backfill causes the road surface to be raised, resulting in an unexpected increase in the buried depth of the pipeline, making the buried depth of part of this section of the pipeline exceed the distance range that traditional pipeline detection instruments can detect, and it is not easy to be detected. In summary, the difficulty of accurately locating pipelines has greatly increased. With the rapid growth of the domestic economy, the world's most advanced deep-buried pipeline detection methods and technologies have also been introduced into my country's engineering survey industry. Since the 21st century, the world's exploration technology has entered a new level with the development of information and automation technology. In the current deep-buried pipeline detection technology, compared with traditional electromagnetic induction method, geological radar method, seismic wave method and other methods, magnetic gradient technology, as one of the magnetic detection methods, is widely used in the detection technology of metal deep-buried pipelines because of its strong penetration, high detection sensitivity and less impact from the surrounding environment. Due to the particularity of the laying method of deep-buried pipelines and the unknown underground direction and burial depth, the operation plan should be adjusted according to the on-site conditions during the detection process to ensure the effectiveness and safety of drilling.

[0052] The utility model provides a three-dimensional trajectory projection magnetic gradient measurement system in a borehole, which generates a three-dimensional trajectory curve of the measuring probe based on acceleration signals and magnetic field signals obtained by a gravity acceleration sensor, a magnetic field sensor and a fluxgate sensor on the measuring probe, and quickly and accurately determines the position of an underground metal pipeline in three-dimensional space according to the three-dimensional trajectory curve and the magnetic gradient change signal.

[0053] Figure 5 This is a structural block diagram of another borehole three-dimensional trajectory projection magnetic gradient measurement system provided by the embodiment of the utility model. Figure 6 This is an overall structural diagram of a borehole three-dimensional trajectory projection magnetic gradient measurement system provided by the embodiment of the utility model, refer to Figure 5 and Figure 6 Optionally, the logging winch 2 includes an electric slip ring 21, a depth measuring wheel 22, a DC brushless motor (D) 23, and a motor driver 24; the electric slip ring 21 is used to transmit the working power of the logging winch 2 when controlling the movement of the measuring probe A (1); the depth measuring wheel 22 is used to detect the depth of the measuring probe A (1) in the borehole; the DC brushless motor (D) 23 is used to drive the logging winch 2 to control the movement of the measuring probe A (1) in the borehole; and the motor driver 24 is used to control the rotation speed, torque and direction of the logging winch 2.

[0054] Specifically, the electric slip ring 21 can transmit the working power of the logging winch 2 when controlling the movement of the measuring probe A (1), thereby preventing the logging winch 2 from causing safety accidents due to excessive power; the depth measuring wheel 22 is used to detect the depth position of the measuring probe A (1) in the borehole in real time; the DC brushless motor D (23) is mainly used to drive the roller C of the logging winch 2 and control the retraction and extension of the cable F, so that the logging winch 2 can accurately control the movement of the measuring probe A (1) in the borehole; the motor driver 24 is used to control the speed, torque and direction of the logging winch 2.

[0055] Optionally, the logging winch also includes an optical pulse counter, a worm gear reducer and a speed dial emergency stop switch and a power lithium battery pack;

[0056] An optical pulse counter is used to accurately measure and control the depth of the cable, thus ensuring the correct depth position of the measuring probe in the borehole;

[0057] Worm gear reducers are mainly used to reduce the driving speed of the logging winch drum and increase the torque, so as to achieve precise control of cable retraction and release and improve the reliability of the equipment;

[0058] The speed-adjusting emergency stop switch is used to quickly cut off the power supply of the logging winch motor when necessary, so that the equipment stops running;

[0059] The power lithium battery pack is used to provide power for the logging drawworks.

[0060] Optionally, the logging winch 2 further includes an emergency stop switch;

[0061] The emergency stop switch is used to control the logging winch 2 to stop working when an emergency occurs.

[0062] Optional, continue to refer to Figure 6 , further comprising a connector B; a first end of the connector B is connected to one end of a cable on the depth measuring wheel 22, a second end of the connector B is connected to the measuring probe A (1), and the connector B reserves an interface for extending the probe function.

[0063] Specifically, connector B can realize quick on-site connection and replacement of the same type of measurement probe or different types of probes, which can not only be used for checking data, but also reserve an interface for later expansion of multi-parameter probes.

[0064] Figure 7 This is a structural block diagram of another borehole three-dimensional trajectory projection magnetic gradient measurement system provided by the embodiment of the utility model, referring to Figure 7 Optionally, it also includes a display module 5; the display module 5 is connected to the processing module 4, and the display module 5 is used to display the position of the underground metal pipeline in three-dimensional space

[0065] Optionally, the data acquisition module 3 includes a ground data acquisition box.

[0066] The above specific implementations do not constitute a limitation on the protection scope of the present utility model. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. A three-dimensional trajectory projection magnetic gradient measurement system in a borehole, characterized in that: include: Measuring probe, logging winch, data acquisition module and processing module; The measuring probe comprises a gravity acceleration sensor, a magnetic field sensor and a fluxgate sensor; the gravity acceleration sensor acquires an acceleration signal when the measuring probe moves in the borehole, the magnetic field sensor acquires a magnetic field signal, and the fluxgate sensor acquires a magnetic gradient change signal caused by an underground metal pipeline; The logging winch is connected to the measuring probe, and the logging winch is used to extend the measuring probe into the borehole and control the measuring probe to move in the borehole; The data acquisition module is connected to the logging winch, the processing module is connected to the data acquisition module, and the data acquisition module is used to collect the acceleration signal, the magnetic field signal and the magnetic gradient change signal and transmit them to the processing module; The processing module generates a three-dimensional trajectory curve of the measuring probe based on the acceleration signal and the magnetic field signal, and determines the position of the underground metal pipeline in three-dimensional space according to the three-dimensional trajectory curve and the magnetic gradient change signal.

2. The borehole three-dimensional trajectory projection magnetic gradient measurement system according to claim 1, characterized in that: The measuring probe comprises three gravity acceleration sensors installed orthogonally and three magnetic field sensors installed orthogonally.

3. The borehole three-dimensional trajectory projection magnetic gradient measurement system according to claim 1, characterized in that: The logging winch comprises an electric slip ring, a depth measuring wheel, a brushless DC motor, and a motor driver; The electric slip ring is used to transmit the working power when the logging winch controls the movement of the measuring probe; The depth measuring wheel is used to detect the depth of the measuring probe in the borehole; The brushless DC motor is used to drive the logging winch to control the measuring probe to move in the borehole; The motor driver is used to control the speed, torque and direction of the logging drawworks.

4. The borehole three-dimensional trajectory projection magnetic gradient measurement system according to claim 3, characterized in that: Also includes a connector; The first end of the connector is connected to one end of the cable on the depth measuring wheel, the second end of the connector is connected to the measuring probe, and the connector reserves an interface for extending the probe function.

5. The borehole three-dimensional trajectory projection magnetic gradient measurement system according to claim 3, characterized in that: The logging winch also includes a power lithium battery pack; The power lithium battery pack is used to provide power for the logging drawworks.

6. The borehole three-dimensional trajectory projection magnetic gradient measurement system according to claim 3, characterized in that: The logging winch also includes an emergency stop switch; The emergency stop switch is used to control the logging winch to stop working when an emergency occurs.

7. The borehole three-dimensional trajectory projection magnetic gradient measurement system according to claim 1, characterized in that: Also includes a display module; The display module is connected to the processing module, and is used to display the position of the underground metal pipeline in three-dimensional space.

8. The borehole three-dimensional trajectory projection magnetic gradient measurement system according to claim 1, characterized in that: The data acquisition module includes a ground data acquisition box.

9. The borehole three-dimensional trajectory projection magnetic gradient measurement system according to claim 1, characterized in that: The processing module comprises a computer, and the computer has built-in three-dimensional computing software.

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